I'd go to that spot where the person is lingering and verbally tell them they are dead. They may not know.

You don't have to be a medium or a psychic to be able to communicate with the dead. They can hear you just fine. Tell them there is a wonderous life awaiting them on the other side. Some instruct them to go to the light.

Say a prayer for his guides and angels to escort him 'home'. That should cover all the bases.

Escorting him our is easy, yet he has to want, and be in reasonal balance.